CN104267617B - A kind of dynamic load simulation test experiment platform and method of testing - Google Patents

Abstract

The invention discloses a kind of dynamic load simulation test experiment platform, one end of first torque sensor is connected to subjects by the first shaft coupling, the other end is connected with one end of described axle by the second shaft coupling, the other end of axle is connected with one end of described second torque sensor by the 3rd shaft coupling, and the other end of the second torque sensor is connected to described magnetic powder brake；Clutch shaft bearing, angular transducer, slip ring, flywheel, clutch and the second bearing are sequentially set with on the shaft；Multiple electric linear slide unit is installed on flywheel wheel face equably.Inertia load suffered by tested object, torque loads can be measured in process of the test by this platform in real time, and according to predetermined target automatic stepless regulation inertia load and torque loads, process of the test is by TT&C system closed loop control, therefore precision is high.Test platform flywheel disc structure intensity is high, good stability, and reliability is high.

Description

A dynamic load simulation test platform and test method

technical field

The invention belongs to the technical field of mechanical experiments and specifically designs a dynamic load simulation test platform and a test method.

Background technique

Load simulation technology refers to simulating the load force or moment of the loading object through certain technical means under laboratory conditions. It is an emerging semi-physical simulation and test technology. In the research and testing of new products and new technologies, load simulation technology overcomes the limitation of using actual loading objects in the actual environment. The research program and system model can also be realized through the hardware-in-the-loop load simulation platform. Especially in some fields such as aerospace and marine engineering, which are not easy to carry out online testing, load simulation technology is even more important.

A general load simulation system usually needs to be able to simulate inertial loads and torque loads (including friction loads, constant loads, variable loads, etc.). The Chinese patent authorization announcement number is 201220233572.0, which discloses a simulated load test device for testing motors and reducers. The simulated load test device includes driven gears, driving gears, speed increasers, inertia wheels, and Motor and reducer, the invention can simulate inertial load and torque load at the same time, but cannot adjust the applied load value in real time and steplessly during the test process. In the prior art, in order to adjust the inertial load in the test, the number of flywheel discs is generally changed, and the inertial load is changed by disassembling the flywheel discs. Therefore, the operation of adjusting the inertial load each time is very cumbersome. In order to simplify the adjustment process, the existing There are also some optimizations in the technology. For example, the patent with the Chinese patent authorization announcement number of 201120176448.0 discloses a moment of inertia adjustment device, which includes at least one set of articulated arms, moving blocks, motors, and a main shaft, and is realized through the control of the motor on the articulated arm and the moving block on the main shaft. Adjustment of moment of inertia. Although the device can realize the stepless adjustment of the moment of inertia, there are problems such as unstable structure and easy breakage of the articulated arm under the condition of high-speed rotation. The Chinese patent authorization announcement number is 201120198960.5, which discloses a torque load simulator, including a rotating shaft and a friction plate with a bearing set on the rotating shaft. The friction between the friction plate and the rotating shaft is changed by manually tightening the elastic member on the positioning rod. To generate different torque loads, this invention cannot achieve real-time adjustment of the load, and with the use of the load simulator, the friction plates will wear out. In the case of the same tightening amount, the torque load will change, so the load simulation accuracy is low.

Contents of the invention

In view of the deficiencies in the prior art above, the purpose of the present invention is to provide a test platform and test method capable of accurately simulating dynamic inertial loads and dynamic torque loads (including frictional loads, constant loads, variable loads, etc.). During the test, the platform can measure the inertial load and torque load of the tested object in real time, and automatically adjust the inertial load and torque load steplessly according to the predetermined target. The test process is controlled by the closed-loop measurement and control system, so the accuracy is high. The flywheel disc of the test platform has high structural strength, good stability and high reliability.

In order to achieve the above object, the present invention is achieved through the following technical solutions:

A dynamic load simulation test platform, comprising a first torque sensor, a first bearing, an angle sensor, a slip ring, a flywheel, a clutch, a second bearing, a second torque sensor, a magnetic powder brake and a measurement and control system, the first torque sensor One end of the shaft is connected to the test object through a first coupling, the other end is connected to one end of the shaft through a second coupling, and the other end of the shaft is connected to one end of the second torque sensor through a third coupling connected, the other end of the second torque sensor is connected to the magnetic powder brake;

The first bearing, angle sensor, slip ring, flywheel, clutch and second bearing are sequentially set on the shaft;

A plurality of electric linear slides are uniformly installed on the wheel surface of the flywheel, and each pair of electric linear slides facing each other is symmetrical about the center of the flywheel; the electric linear slides include a motor arranged near the center of the flywheel , a slider and a counterweight, the counterweight is fixed on the slider, and the sliding action of the slider is driven by the motor;

The measurement and control system is respectively connected with the first torque sensor, the second torque sensor, the angle sensor and the magnetic powder brake, and is connected with the motor of the electric linear slide table through a slip ring.

Preferably, the center of mass of the plurality of electric linear slides coincides with the center of the flywheel.

Preferably, a third bearing is installed in the center hole opened at the center of the flywheel, and the third bearing is sleeved on the shaft; a pair of meshing teeth are respectively arranged at the opposite ends between the flywheel and the clutch; A locking screw is arranged, and a first locking hole, a second locking hole and a third retaining ring for limiting are arranged in sequence on the shaft along the direction away from the flywheel; when the flywheel engages with the clutch , the locking screw is aligned with the first locking hole; when the clutch abuts against the third retaining ring, the flywheel is disengaged from the clutch, and the locking screw is aligned with the second locking hole align.

Preferably, the weights installed symmetrically about the center of the flywheel have the same mass.

Preferably, the electric linear slide table is a ball screw electric slide table, the motor is a servo motor, which drives the ball screw to rotate, and the ball screw drives the slider to move.

Preferably, the flywheel further includes a base plate, and holes are symmetrically opened on the base plate with respect to the center of the flywheel, so as to reduce the moment of inertia of the base plate.

The wires of the electric linear slide on the flywheel are connected with the slip ring on the shaft to ensure that the wires of the motor on the electric linear slide will not be entangled when rotating. A slip ring is mounted on the shaft.

Preferably, the angle sensor is a circular magnetic grating.

Preferably, the first coupling, the second coupling and the third coupling are single diaphragm couplings.

Preferably, the bearings and bearings are deep groove ball bearings.

Preferably, the third bearing is a needle bearing.

As an improvement, according to actual needs, 2, 4, 6, 8 and other even-numbered pairs of electric linear slides can be arranged on the flywheel.

As an improvement, the base plate can be made of regular polygonal steel plate or aluminum plate, such as square, regular hexagon, regular octagon, etc., and the middle can be symmetrically hollowed out to reduce the moment of inertia of the base plate.

As an improvement, the counterweights can be replaced with counterweights of different masses according to different tests.

The present invention can simulate multiple load forms of dynamic inertia load and dynamic torque load (including friction load, constant value load, variable load, etc.) at the same time, and can also simulate any one of them. During the simulation process, the torque, rotation angle, speed and angular acceleration of the tested object can be tested in real time, and the inertial load and torque load can be adjusted in real time and accurately, which improves the accuracy of dynamic load simulation.

A dynamic load simulation test method, comprising the following steps:

(a) The test system establishes the function J=F _J (t) of dynamic inertial load J over time t and the function T=F _T (t) of dynamic torque load T over time t according to the characteristics of the measured object, and the function can be The equation form can also be a parameter table form.

(b) Start the test object, and the measurement and control system continuously reads the output value T ₁ of the first torque sensor, the output value T ₂ of the second torque sensor and the output value θ of the angle sensor. Then at a certain moment t _i , the torque load generated by the magnetic powder brake T _i = T ₂ , and the inertial load generated by the flywheel $J_i=(T_1-T_2)/\frac{d^2\mathrm{\θ}}{{\mathrm{dt}}^2}.$

(c) Comparing the measured inertial load J _i and torque load T _i with the relationship function established in step (a), calculate the inertial load deviation e _Ji = F _J (t _{i )-J i and} Torque load deviation e _Ti = F _T (t _i )-T _i , and then calculate the output values of the electric linear slide table and magnetic powder brake at the next moment through the PID algorithm, and control their actions respectively.

(d) According to the user input, judge whether to stop the experiment, if so, stop the experiment, otherwise return to step (b).

For the above method, preferably, the function J=F _J (θ) of the dynamic inertia load J with the rotation angle θ and the function T=F _T (θ) of the dynamic torque load T with the rotation angle θ can also be established.

Description of drawings

Fig. 1 is a schematic diagram of a dynamic load simulation test platform.

Figure 2 is a schematic diagram of the flywheel.

Figure 3 is a partial enlarged view of the flywheel assembly.

Fig. 4 is a flowchart of a load simulation test method.

In the figure, 1-test object, 2-first coupling, 3-first torque sensor, 4-second coupling, 5-first bearing, 6-angle sensor, 7-slip ring, 8-flywheel , 9-third bearing, 10-shaft, 11-clutch, 12-second bearing, 13-third coupling, 14-second torque sensor, 15-magnetic powder brake, 16-measurement and control system, 8-1-electric Linear slide table, 8-2-counterweight, 8-3-base plate, 17-end cover, 18-lock screw, 19-first retaining ring, 20-second retaining ring, 21-third retaining ring , 22-bracket.

detailed description

In order to make the purpose and technical solutions of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiments of the present invention. Apparently, the described embodiments are some, not all, embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as herein Explanation.

The meaning of "and/or" in the present invention means that each exists alone or both are included.

The meanings of "inside and outside" in the present invention refer to that relative to the device itself, the direction pointing to the inside of the device is inward, and vice versa, it is not a specific limitation to the device mechanism of the present invention.

The meaning of "left and right" mentioned in the present invention means that when the reader is facing the drawings, the left side of the reader is the left, and the right side of the reader is the right, rather than a specific limitation to the device mechanism of the present invention .

The meaning of "connection" in the present invention may be a direct connection between components or an indirect connection between components through other components.

As shown in Figure 1, the present invention provides a kind of dynamic load simulation test platform, mainly by first torque sensor 3, first bearing 5, angle sensor 6, slip ring 7, flywheel 8, clutch 11, second bearing 12, The second torque sensor 14, the magnetic powder brake 15, and the measurement and control system 16 are composed. One end of the first torque sensor 3 is connected to the test object 1 through the first coupling 2, the other end is connected to one end of the shaft 10 through the second coupling 4, and the other end of the shaft 10 is connected through the third Coupling 13 is connected with one end of described second torque sensor 14, and the other end of described second torque sensor 14 is connected with described magnetic powder brake 15; Described first bearing 5, angle sensor 6, slip ring 7, flywheel 8. The clutch 11 and the second bearing 12 are sequentially set on the shaft 10; as shown in Figure 2, a plurality of electric linear slides 8-1 are evenly installed on the wheel surface of the flywheel 8, and each pair is opposite to each other. The opposite described electric linear slide table 8-1 is symmetrical about the center of the flywheel 8; the electric linear slide table 8-1 includes a motor, a slide block and a counterweight 8-2 arranged near the center of the flywheel 8, and the The counterweight 8-2 is fixed on the slider, and the sliding action of the slider is driven by the motor; the measurement and control system 16 is respectively connected with the first torque sensor 3, the second torque sensor 14, the angle sensor 6 and the Magnetic powder brake 15 links to each other, links to each other with the motor of electric linear slide table 8-1 by slip ring 7. The centers of mass of the plurality of electric linear slides 8-1 coincide with the centers of the flywheel 8.

As shown in Figure 3, a third bearing 9 is installed in the center hole provided at the center of the flywheel 8, and the third bearing 9 is sleeved on the shaft 10; the opposite ends between the flywheel 8 and the clutch 11 are respectively arranged There are a pair of meshing teeth; a locking screw 18 is arranged on the clutch 11, and a first locking hole, a second locking hole and a position-limiting hole are sequentially arranged on the shaft 10 along the direction away from the flywheel 8. The third retaining ring 21; when the flywheel 8 is engaged with the clutch 11, the locking screw 18 is aligned with the first locking hole; when the clutch 11 abuts against the third retaining ring 21, The flywheel 8 is disengaged from the clutch 11, and the locking screw 18 is aligned with the second locking hole. The counterweights mounted symmetrically about the center of the flywheel 8 have the same mass. The electric linear slide 8-1 is a ball screw electric slide, the motor is a servo motor, which drives the ball screw to rotate, and the ball screw drives the slider to move. The flywheel 8 also includes a base plate 8-3, and holes are symmetrically opened on the base plate 8-3 with respect to the center of the flywheel 8, so as to reduce the moment of inertia of the base plate 8-3.

In order to ensure that the wires on the motor on the electric linear slide table 8-1 will not be entangled when rotating, a slip ring 7 is installed on the shaft 10, the anti-rotation piece of the slip ring 7 is fixed on the bracket, and the flange of the slip ring 7 is fixed on the end. Cover 17. The lead is connected to the rotor side of the slip ring 7, and when the flywheel 8 rotates, the stator outlet does not rotate thereupon.

Specifically, during the test, the measurement and control system 16, the first torque sensor 3, the angle sensor 6, the second torque sensor 14, the magnetic powder brake 15, and the electric linear slide 8-1 constitute a closed loop.

Referring to FIG. 4 , it is a simulation diagram of the load simulation test method of the present invention. Described load simulation test method specifically comprises the steps:

The test system establishes the function J=F _J (t) of the dynamic inertia load J over time t and the function T=F _T (t) of the dynamic torque load T over time t according to the characteristics of the measured object. The function can be in the form of an equation or Can be in the form of a parameter list.

(b) Start the subject 1, and the measurement and control system continuously reads the output value T 1 of the first torque sensor 3 , the output value T ₂ of the _second torque sensor 14 and the output value θ of the angle sensor 6 . Then at a certain moment t _i , the torque load T _i =T ₂ generated by the magnetic powder brake 15, and the inertial load generated by the flywheel (8)

(c) Comparing the measured inertial load J _i and torque load T _i with the relationship function established in step (a), calculate the inertial load deviation e _Ji = F _J (t _{i )-J i and} Torque load deviation e _Ti = _FT (t _i )-T _i , and then calculate the output value of the electric linear slide 8-1 at the next moment through the PID algorithm, and control their actions respectively. The output value ΔF _Ji (t _i ) of the electric linear slide 8-1 at the moment t _i is calculated by the following formula:

ΔF _Ji (t _i )＝k _Jp (e _Ji -e _Ji-1 )+k _JI e _Ji +k _JD (e _Ji -2e _Ji-1 +e _Ji-2 )

e _Ji , e _Ji-1 , e _Ji-2 : the sampling deviation values between the dynamic inertial load input and the set value at the t _i time, the t _i-1 time, and the t _i-2 time respectively;

k _JP : proportional coefficient of dynamic inertial load;

k _JI : integral coefficient of dynamic inertial load;

k _JD : Differential coefficient of dynamic inertial load.

The output value of the magnetic powder brake 15 at time t _i is calculated by the PID algorithm, and its action is controlled. The output value F _Ti (t _i ) of the magnetic powder brake 15 at time t _i is calculated by the following formula:

F _Ti (t _i )＝F _Ti-1 (t _i-1 )+k _Tp (e _Ti -e _Ti-1 )+k _TI e _Ti +k _TD (e _Ti -2e _Ti-1 +e _Ti-2 )

F _Ti (t _i ): the output value of the magnetic powder brake at the time t _i .

F _Ti-1 (t _i-1 ): the output value of the magnetic powder brake at the t _i-1th moment.

e _Ti , e _Ti-1 , e _Ti-2 : respectively, the sampling deviation values at the t _{i th} time, the t _{i-1 th} time, and the t _i-2 th time between the dynamic torque load input and the set value.

k _TP : proportionality factor for dynamic torque load.

k _TI : Integral coefficient of dynamic torque load.

k _TD : Differential coefficient for dynamic torque load.

(d) According to the user input, judge whether to stop the experiment, if so, stop the experiment, otherwise return to step (b).

As another embodiment of the load simulation test method, it is as follows:

(a) It is also possible to establish the function J=F _J (θ) of the dynamic inertia load J with the rotation angle θ and the function T=F _T (θ) of the dynamic torque load T with the rotation angle θ.

(b) Start the subject 1, and the measurement and control system continuously reads the output value T 1 of the first torque sensor 3 , the output value T ₂ of the _second torque sensor 14 and the output value θ of the angle sensor 6 . Then at a certain rotation angle θ _i , the torque load Ti ₌ T ₂ generated by the magnetic powder brake 15, and the inertial load generated by the flywheel 8

(c) Compare the measured inertial load J _i and torque load T _i with the relationship function established in step (a), and calculate the inertial load deviation e _Ji = F _J (θ _i )-J _i at the θ _i rotation angle and torque load deviation e _Ti =FT (θ _i ) _{-T i} , then calculate the output values of the electric linear slide table 8-1 and the magnetic powder brake 15 at the next corner through the PID algorithm, and control their actions respectively. The output value ΔF _Ji (θ _i ) of the electric linear slide table 8-1 at the θ _i -th corner is calculated by the following formula:

ΔF _Ji (θ _i )＝k _Jp (e _Ji -e _Ji-1 )+k _JI e _Ji +k _JD (e _Ji -2e _Ji-1 +e _Ji-2 )

e _Ji , e _Ji-1 , e _Ji-2 : respectively, the sampling deviation values of the θ i- _th rotation angle, the θ _i-1- th rotation angle, and the θ _i-2 -th rotation angle between the dynamic inertial load input and the set value.

k _JP : proportionality factor of dynamic inertial load.

k _JI : Integral coefficient of dynamic inertial load.

k _JD : Differential coefficient of dynamic inertial load.

Calculate the output value of the θ _i rotation angle magnetic powder brake 15 through the PID algorithm, and control its action. The output value F _Ti (θ _i ) of the magnetic powder brake 15 at the θ _i rotation angle is calculated by the following formula:

F _Ti (θ _i )＝F _Ti-1 (θ _i-1 )+k _Tp (e _Ti -e _Ti-1 )+k _TI e _Ti +k _TD (e _Ti -2e _Ti-1 +e _Ti-2 )

F _Ti (θ _i ): the output value when the dynamic torque load θ _i rotates.

F _Ti-1 (θ _i-1 ): the output value at the dynamic torque load θ _i-1 rotation angle.

e _Ti , e _Ti-1 , e _Ti-2 : respectively, the sampling deviation values of the θ i- _th rotation angle, the θ _i-1- th rotation angle, and the θ _i-2 -th rotation angle between the dynamic torque load input and the set value.

k _TP : proportionality factor for dynamic torque load.

k _TI : Integral coefficient of dynamic torque load.

k _TD : Differential coefficient for dynamic torque load.

(d) According to the user input, judge whether to stop the experiment, if so, stop the experiment, otherwise return to step (b).

In this embodiment, when the clutch 11 between the shaft 10 and the flywheel 8 is disengaged, the flywheel 8 does not rotate with the shaft 10 . At this time, the dynamic load simulation test platform only applies torque load to the test object 1.

In this embodiment, when the clutch 11 between the shaft 10 and the flywheel 8 is engaged, and the braking torque of the magnetic powder brake 15 is adjusted to be zero, the dynamic load simulation test platform only applies an inertial load to the subject 1.

The above is only the embodiment of the present invention, and its description is relatively specific and detailed, but it should not be construed as limiting the patent scope of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims (8)

1. a dynamic load simulation test experiment platform, including the first torque sensor (3), clutch shaft bearing (5), angle sensor Device (6), slip ring (7), flywheel (8), clutch (11), the second bearing (12), the second torque sensor (14), magnetic powder brake (15) and TT&C system (16), it is characterised in that one end of described first torque sensor (3) is by the first shaft coupling (2) even Being connected to subjects (1), the other end is connected with one end of axle (10) by the second shaft coupling (4), the other end of described axle (10) It is connected by one end of the 3rd shaft coupling (13) with described second torque sensor (14), described second torque sensor (14) The other end is connected to described magnetic powder brake (15)；

Described clutch shaft bearing (5), angular transducer (6), slip ring (7), flywheel (8), clutch (11) and the second bearing (12) are suitable Secondary it is sleeved on described axle (10)；

Multiple electric linear slide unit (8-1) is installed equably, every pair of described electricity facing each other on described flywheel (8) wheel face Dynamic straight line slide unit (8-1) is symmetrical about the revenue centre of flywheel (8)；Described electric linear slide unit (8-1) includes near flywheel (8) Centrally disposed motor, slide block and balancing weight (8-2), described balancing weight (8-2) is fixed on described slide block, the cunning of described slide block Dynamic action is driven by described motor；

Described TT&C system (16) respectively with the first torque sensor (3), the second torque sensor (14), angular transducer (6) It is connected with magnetic powder brake (15), is connected by the motor of slip ring (7) with electric linear slide unit (8-1).

A kind of dynamic load simulation test experiment platform the most according to claim 1, it is characterised in that the plurality of electronic The mass centre of straight line slide unit (8-1) and the center superposition of flywheel (8).

A kind of dynamic load simulation test experiment platform the most according to claim 2, it is characterised in that described flywheel (8) The centre bore that center is offered is enclosed within axle (10) built with the 3rd bearing (9), described 3rd bearing (9)；Described flywheel (8) And between clutch (11) relative to end be respectively disposed with the tooth being meshed a pair；Clutch is disposed with lock-screw on (11) (18), described axle (10) is upper has been sequentially arranged the first locking hole, the second locking hole and use along the direction away from described flywheel (8) In spacing third gear circle (21)；When described flywheel (8) engages with clutch (11), described lock-screw (18) and described the One locking hole alignment；When described clutch (11) is resisted against on third gear circle (21), described flywheel (8) takes off with clutch (11) Opening, described lock-screw (18) aligns with the second locking hole.

A kind of dynamic load simulation test experiment platform the most according to claim 2, it is characterised in that described flywheel (8) Balancing weight identical in quality that centrosymmetry is installed.

A kind of dynamic load simulation test experiment platform the most according to claim 1, it is characterised in that described electric linear Slide unit (8-1) is the electronic slide unit of ball-screw, and described motor is servomotor, and it drives ball-screw to rotate, described ball wire Thick stick band movable slider moves.

A kind of dynamic load simulation test experiment platform the most according to claim 1, it is characterised in that described flywheel (8) Also including basal disc (8-3), on described basal disc (8-3), flywheel (8) symmetrically offers hole, to reduce described basal disc (8-3) rotary inertia.

7. one kind uses the dynamic load simulation test that dynamic load simulation test experiment platform as claimed in claim 1 is carried out Method, it is characterised in that comprise the following steps:

A (), TT&C system (16), according to the characteristic of measurand (1), set up the function J=F of Dynamic Inertia load J t in time_J The function T=F of (t) and dynamic torque load T t in time_TT (), function uses equation form or parameter list form；

B (), startup tested object (1), TT&C system (16) constantly reads output valve T of the first torque sensor (3)₁, second turn round Output valve T of square sensor (14)₂Output valve θ with angular transducer (6)；Then at moment t_i, magnetic powder brake (15) produces Torque loads T_i=T₂, inertia load that flywheel (8) produces

(c), by measured inertia load J_i, torque loads T_iRelation function contrast with setting up in step (a), calculates t_i Moment inertia load deviation e_Ji=F_J(t_i)-J_iAnd torque loads deviation e_Ti=F_T(t_i)-T_i, then calculated down by pid algorithm One moment electric linear slide unit (8-1) and the output valve of magnetic powder brake (15), and respectively control electric linear slide unit (8-1) and The action of magnetic powder brake (15)；

(d), according to user input, it may be judged whether stop experiment, if it is stop experiment, otherwise return perform step (b).

8. one kind uses the dynamic load simulation test that dynamic load simulation test experiment platform as claimed in claim 1 is carried out Method, it is characterised in that comprise the following steps:

A (), TT&C system (16), according to the characteristic of measurand (1), set up the Dynamic Inertia load J function J=F with rotational angle theta_J (θ) and dynamic torque load T is with the function T=F of rotational angle theta_T(θ)；

B (), startup tested object (1), TT&C system constantly reads output valve T of the first torque sensor (3)₁, second moment of torsion pass Output valve T of sensor (14)₂Output valve θ with angular transducer 6；Then in rotational angle theta_i, the moment of torsion that magnetic powder brake (15) produces is born Carry T_i=T₂, the inertia load of flywheel 8 generation

(c), by measured inertia load J_i, torque loads T_iRelation function contrast with setting up in step (a), calculates θ_i Time inertia load deviation e_Ji=F_J(θ_i)-J_iAnd torque loads deviation e_Ti=F_T(θ_i)-T_i, then calculate next by pid algorithm Corner electric linear slide unit (8-1) and the output valve of magnetic powder brake (15), and control electric linear slide unit (8-1) and magnetic respectively The action of powder brake (15)；

(d), according to user input, it may be judged whether stop experiment, if it is stop experiment, otherwise return perform step (b).